Self-driving automobile fusion positioning control method, device and equipment, and storage medium

The invention relates to the technical field of automatic driving, and discloses a self-driving automobile fusion positioning control method, device and equipment, and a storage medium. The self-driving automobile fusion positioning control method comprises the following steps: obtaining fusion positioning information of a preset fusion positioning system and visual positioning information of a preset visual positioning system of the vehicle to be controlled; calculating a first steering angle, a first acceleration, a second steering angle, and a second acceleration of the vehicle to be controlled separately according to the fusion positioning information and the visual positioning information; determining a target steering angle and a target acceleration according to the first steering angle, the first acceleration, the second steering angle, and the second acceleration; and controlling the driving state of the vehicle to be controlled according to the target steering angle and the target acceleration. Accor